diff --git a/isaac_orbbec_launch/param/orbbec_single_camera_perceptor_detached.yaml b/isaac_orbbec_launch/param/orbbec_single_camera_perceptor_detached.yaml
new file mode 100644
index 00000000..50de49c2
--- /dev/null
+++ b/isaac_orbbec_launch/param/orbbec_single_camera_perceptor_detached.yaml
@@ -0,0 +1,59 @@
+nvblox_config:
+  container_name: 'nvblox_container'
+  attach_to_container: false
+  # container_name: 'shared_orbbec_container'
+  # attach_to_container: true
+  node_name: 'nvblox_node'
+  remappings:
+    - depth:
+        image: '/camera/depth/image_raw'
+        info: '/camera/depth/camera_info'
+      color:
+        image: '/camera/color/image_raw'
+        info: '/camera/color/camera_info'
+  config_files:
+    - package: 'isaac_ros_perceptor_bringup'
+      path: 'params/default_nvblox_config.yaml'
+  parameters:
+    - use_lidar: false
+    - input_qos: "SENSOR_DATA"
+    - map_clearing_frame_id: "camera_link"
+    - static_mapper:
+        esdf_slice_height: 0.0
+        esdf_slice_min_height: 0.09
+        esdf_slice_max_height: 0.65
+    - dynamic_mapper:
+        esdf_slice_height: 0.0
+        esdf_slice_min_height: 0.09
+        esdf_slice_max_height: 0.65
+
+cuvslam_config:
+  container_name: 'cuvslam_container'
+  attach_to_container: false
+  # container_name: 'shared_orbbec_container'
+  # attach_to_container: true
+  node_name: 'cuvslam_node'
+  remappings:
+    stereo_images:
+      - left:
+          image: '/camera/left_ir/image_raw'
+          info: '/camera/left_ir/camera_info'
+          optical_frame: 'camera_left_ir_optical_frame'
+        right:
+          image: '/camera/right_ir/image_raw'
+          info: '/camera/right_ir/camera_info'
+          optical_frame: 'camera_right_ir_optical_frame'
+  config_files:
+    - package: 'isaac_ros_perceptor_bringup'
+      path: 'params/default_cuvslam_config.yaml'
+  parameters:
+    - image_jitter_threshold_ms: 67.0
+    - input_qos: "SENSOR_DATA"
+
+common_config:
+  map_frame: 'map'
+  odom_frame: 'odom'
+  robot_frame: 'camera_link'
+
+extra_topics:
+  - '/tf_static'
diff --git a/isaac_orbbec_launch/param/single_camera_odom.rviz b/isaac_orbbec_launch/param/single_camera_odom.rviz
new file mode 100644
index 00000000..c941480f
--- /dev/null
+++ b/isaac_orbbec_launch/param/single_camera_odom.rviz
@@ -0,0 +1,500 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Nvblox1
+        - /Stereo Cameras1
+        - /Depth Images1
+      Splitter Ratio: 0.7601010203361511
+    Tree Height: 664
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Combined Esdf
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz_default_plugins/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 0.25
+      Name: Base Link
+      Radius: 0.05000000074505806
+      Reference Frame: base_link
+      Value: true
+    - Alpha: 0.25
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 0; 0; 0
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/Marker
+          Enabled: false
+          Name: ESDF Slice Bounds
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /nvblox_node/esdf_slice_bounds
+          Value: false
+        - Class: rviz_default_plugins/Marker
+          Enabled: false
+          Name: Workspace Bounds
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /nvblox_node/workspace_bounds
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: false
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: Intensity
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 1
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Static Esdf
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.05000000074505806
+          Style: Tiles
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /nvblox_node/static_esdf_pointcloud
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: false
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: Intensity
+          Decay Time: 0
+          Enabled: false
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 1
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Human Esdf
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.05000000074505806
+          Style: Tiles
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /nvblox_node/dynamic_esdf_pointcloud
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: false
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz_default_plugins/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: Intensity
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 1
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: Combined Esdf
+          Position Transformer: XYZ
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.05000000074505806
+          Style: Tiles
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /nvblox_node/combined_esdf_pointcloud
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Class: rviz_default_plugins/Marker
+          Enabled: true
+          Name: Color Layer Marker
+          Namespaces:
+            layer: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /nvblox_node/color_layer_marker
+          Value: true
+      Enabled: true
+      Name: Nvblox
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/Image
+          Enabled: true
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Image
+          Normalize Range: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Best Effort
+            Value: /camera/left_ir/image_raw
+          Value: true
+      Enabled: true
+      Name: Stereo Cameras
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_default_plugins/Image
+          Enabled: true
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Image
+          Normalize Range: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Best Effort
+            Value: /camera/depth/image_raw
+          Value: true
+      Enabled: true
+      Name: Depth Images
+    - Class: rviz_common/Group
+      Displays:
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz_default_plugins/Path
+          Color: 25; 255; 0
+          Enabled: true
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
+          Line Style: Billboards
+          Line Width: 0.05000000074505806
+          Name: Path
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0.20000000298023224
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /unsmoothed_plan
+          Value: true
+        - Alpha: 0.699999988079071
+          Class: rviz_default_plugins/Map
+          Color Scheme: map
+          Draw Behind: false
+          Enabled: false
+          Name: Local Costmap
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_costmap/costmap
+          Update Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /local_costmap/costmap_updates
+          Use Timestamp: false
+          Value: false
+        - Alpha: 0.699999988079071
+          Class: rviz_default_plugins/Map
+          Color Scheme: map
+          Draw Behind: false
+          Enabled: false
+          Name: Global Costmap
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /global_costmap/costmap
+          Update Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /global_costmap/costmap_updates
+          Use Timestamp: false
+          Value: false
+      Enabled: true
+      Name: Navigation
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: false
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: false
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /visual_slam/tracking/odometry
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 255; 120; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 3
+      Line Style: Billboards
+      Line Width: 0.10000000149011612
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.10000000149011612
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /visual_slam/tracking/slam_path
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 190; 190; 190
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/ThirdPersonFollower
+      Distance: 27.068092346191406
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -2
+        Y: -0.75
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.4997963905334473
+      Target Frame: base_link
+      Value: ThirdPersonFollower (rviz_default_plugins)
+      Yaw: 3.249995470046997
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1850
+  X: 70
+  Y: 27
diff --git a/orbbec_camera/config/single_camera_params.yaml b/orbbec_camera/config/single_camera_params.yaml
new file mode 100644
index 00000000..72ce2102
--- /dev/null
+++ b/orbbec_camera/config/single_camera_params.yaml
@@ -0,0 +1,58 @@
+# common params
+depth_registration: false
+enable_point_cloud: true
+enable_colored_point_cloud: false
+device_preset: "High Accuracy"
+time_domain: "global" # global, device, system
+enable_sync_host_time: true
+frames_per_trigger: 1
+log_level: "warning"
+enable_laser: false
+
+interleave_frame_enable: true
+interleave_skip_enable: true
+
+# color params
+enable_color: true
+color_width: 640
+color_height: 480
+color_fps: 60
+color_format: "MJPG"
+enable_color_auto_exposure: true
+color_exposure: 50 # 5ms
+color_gain: -1 # -1 default
+color_qos: "sensor_data"
+color_camera_info_qos: "sensor_data"
+
+# depth params
+enable_depth: true
+depth_width: 640
+depth_height: 480
+depth_fps: 60
+depth_format: "Y16"
+depth_qos: "sensor_data"
+depth_camera_info_qos: "sensor_data"
+
+# ir exposure
+enable_ir_auto_exposure: true
+ir_exposure: 5000
+ir_gain: 40
+
+#left ir params
+enable_left_ir: true
+left_ir_width: 640
+left_ir_height: 480
+left_ir_fps: 60
+left_ir_format: "Y8"
+left_ir_qos: "sensor_data"
+left_ir_camera_info_qos: "sensor_data"
+
+#right ir params
+enable_right_ir: true
+right_ir_width: 640
+right_ir_height: 480
+right_ir_fps: 60
+right_ir_format: "Y8"
+right_ir_qos: "sensor_data"
+right_ir_camera_info_qos: "sensor_data"
+